[Albert]

When you generate a program you'll see the following code that selects the base frame you are using:

Code:

; $BASE=EK(EX_AX_DATA[1].ROOT,EX_AX_DATA[1].EX_KIN,EX_AX_DATA[1].OFFSET)
; $ACT_EX_AX= 1
; BASE_DATA[4] = {FRAME: X -116.669,Y -288.018,Z 131.971,A -0.704,B 0.103,C -0.713}
$BASE = {FRAME: X -116.669,Y -288.018,Z 131.971,A -0.704,B 0.103,C -0.713}

By default, RoboDK provides the pose of the frame. However, when you use a turntable you should link to a custom defined base data or to special BAS functions that allow you to configure the external axes properly. Probably the easiest is to define the correct base with your setup and have something like this in your code:

Code:

$BASE = BASE_DATA[4]

More information here:
//www.jasonament.com/forum/Thread-Mill-wit...ernal-axis

Another tip, you don't need to allow a 180 deg rotation with your project since it works well without rotating the spindle and you can calculate the result much faster.